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Clean Spaces
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@dewagter
dewagter committed Sep 5, 2012
1 parent 246f08c commit f8890b5
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Showing 8 changed files with 38 additions and 38 deletions.
62 changes: 31 additions & 31 deletions conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_fw.xml
View file
Expand Up @@ -32,51 +32,51 @@
<servo name="AILEVON_LEFT" no="1" min="1900" neutral="1534" max="1100"/>
<servo name="AILEVON_RIGHT" no="2" min="1100" neutral="1468" max="1900"/>
</servos>

<commands>
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
</commands>

<rc_commands>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
</rc_commands>

<section name="MIXER">
<define name="AILEVON_AILERON_RATE" value="0.45"/>
<define name="AILEVON_ELEVATOR_RATE" value="0.8"/>
</section>

<command_laws>
<let var="aileron" value="@ROLL * AILEVON_AILERON_RATE"/>
<let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>
<set servo="MOTOR" value="@THROTTLE"/>
<set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
<set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
</command_laws>

<section name="AUTO1" prefix="AUTO1_">
<define name="MAX_ROLL" value="50" unit="deg"/>
<define name="MAX_PITCH" value="35" unit="deg"/>
</section>

<section name="BAT">
<define name="LOW_BAT_LEVEL" value="10.5" unit="V"/>
<define name="CRITIC_BAT_LEVEL" value="10" unit="V"/>
<define name="CATASTROPHIC_BAT_LEVEL" value="9.1" unit="V"/>
</section>

<section name="FAILSAFE" prefix="FAILSAFE_">
<define name="DELAY_WITHOUT_GPS" value="2" unit="s"/>
<define name="DEFAULT_THROTTLE" value="0.3" unit="%"/>
<define name="DEFAULT_ROLL" value="0.3" unit="rad"/>
<define name="DEFAULT_PITCH" value="0.5" unit="rad"/>
<define name="HOME_RADIUS" value="100" unit="m"/>
</section>

<section name="MISC">
<define name="NOMINAL_AIRSPEED" value="13." unit="m/s"/>
<define name="CARROT" value="5." unit="s"/>
Expand All @@ -86,78 +86,78 @@
<define name="ALT_KALMAN_ENABLED" value="TRUE"/>
<define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
</section>

<!-- Local magnetic field -->
<section name="AHRS" prefix="AHRS_" >
<define name="H_X" value="0.51562740288882" />
<define name="H_Y" value="-0.05707735220832" />
<define name="H_Z" value="0.85490967783446" />
</section>

<section name="IMU" prefix="IMU_">
<!-- Calibration Neutral -->
<define name="GYRO_P_NEUTRAL" value="0"/>
<define name="GYRO_Q_NEUTRAL" value="0"/>
<define name="GYRO_R_NEUTRAL" value="0"/>

<!-- SENS = 14.375 LSB/(deg/sec) * 57.6 deg/rad = 828 LSB/rad/sec / 12bit FRAC: 4096 / 828 -->
<define name="GYRO_P_SENS" value="4.947" integer="16"/>
<define name="GYRO_Q_SENS" value="4.947" integer="16"/>
<define name="GYRO_R_SENS" value="4.947" integer="16"/>

<define name="GYRO_P_Q" value="0."/>
<define name="GYRO_P_R" value="0"/>
<define name="GYRO_Q_P" value="0."/>
<define name="GYRO_Q_R" value="0."/>
<define name="GYRO_R_P" value="0."/>
<define name="GYRO_R_Q" value="0."/>

<define name="GYRO_P_SIGN" value="1"/>
<define name="GYRO_Q_SIGN" value="1"/>
<define name="GYRO_R_SIGN" value="1"/>

<define name="ACCEL_X_NEUTRAL" value="-14"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>

<!-- SENS = 256 LSB/g @ 2.5V [X&Y: 265 LSB/g @ 3.3V] / 9.81 ms2/g = 26.095 LSB/ms2 / 10bit FRAC: 1024 / 26.095 for z and 1024 / 27.01 for X&Y -->
<define name="ACCEL_X_SENS" value="37.9" integer="16"/>
<define name="ACCEL_Y_SENS" value="37.9" integer="16"/>
<define name="ACCEL_Z_SENS" value="39.24" integer="16"/>

<define name="ACCEL_X_SIGN" value="1"/>
<define name="ACCEL_Y_SIGN" value="1"/>
<define name="ACCEL_Z_SIGN" value="1"/>

<define name="MAG_X_NEUTRAL" value="0"/>
<define name="MAG_Y_NEUTRAL" value="0"/>
<define name="MAG_Z_NEUTRAL" value="0"/>

<define name="MAG_X_SENS" value="1" integer="16"/>
<define name="MAG_Y_SENS" value="1" integer="16"/>
<define name="MAG_Z_SENS" value="1" integer="16"/>

<define name="MAG_X_SIGN" value="1"/>
<define name="MAG_Y_SIGN" value="1"/>
<define name="MAG_Z_SIGN" value="1"/>

<define name="BODY_TO_IMU_PHI" value="90.0" unit="deg"/>
<define name="BODY_TO_IMU_THETA" value="0"/>
<define name="BODY_TO_IMU_PSI" value="0"/>
</section>

<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
</section>

<section name="VERTICAL CONTROL" prefix="V_CTL_">
<define name="POWER_CTL_BAT_NOMINAL" value="11.1" unit="volt"/>
<!-- outer loop proportional gain -->
<define name="ALTITUDE_PGAIN" value="-0.03"/>
<!-- outer loop saturation -->
<define name="ALTITUDE_MAX_CLIMB" value="2."/>

<!-- auto throttle inner loop -->
<define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.32"/>
<define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
Expand All @@ -168,28 +168,28 @@
<define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
<define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
<define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>

<define name="THROTTLE_SLEW_LIMITER" value="2" unit="s"/>
</section>

<section name="HORIZONTAL CONTROL" prefix="H_CTL_">
<define name="COURSE_PGAIN" value="1.20000004768"/>
<define name="COURSE_DGAIN" value="0.3"/>
<define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>

<define name="ROLL_MAX_SETPOINT" value="0.75" unit="rad"/>
<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>

<define name="PITCH_PGAIN" value="12000."/>
<define name="PITCH_DGAIN" value="1.5"/>

<define name="ELEVATOR_OF_ROLL" value="1000."/>

<define name="ROLL_SLEW" value="1."/>

<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
<define name="ROLL_RATE_GAIN" value="0."/>
</section>

</airframe>
2 changes: 1 addition & 1 deletion conf/airframes/esden/calib/asp21-001.xml
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Expand Up @@ -13,7 +13,7 @@
<define name="GYRO_P_SENS" value="4.359" integer="16"/>
<define name="GYRO_Q_SENS" value="4.359" integer="16"/>
<define name="GYRO_R_SENS" value="4.359" integer="16"/>

<define name="ACCEL_X_NEUTRAL" value="73"/>
<define name="ACCEL_Y_NEUTRAL" value="21"/>
<define name="ACCEL_Z_NEUTRAL" value="105"/>
Expand Down
2 changes: 1 addition & 1 deletion conf/airframes/esden/hexy_ll11a2pwm.xml
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Expand Up @@ -142,7 +142,7 @@
<define name="PHI_DDGAIN" value=" 530"/>
<define name="THETA_DDGAIN" value=" 530"/>
<define name="PSI_DDGAIN" value=" 300"/>

<!-- simonk esc firmware gains light quad? -->
<!-- feedback -->
<!--define name="PHI_PGAIN" value="1300"/>
Expand Down
2 changes: 1 addition & 1 deletion conf/airframes/esden/quady_ll11a2pwm.xml
View file
Expand Up @@ -138,7 +138,7 @@
<define name="PHI_DDGAIN" value=" 530"/>
<define name="THETA_DDGAIN" value=" 530"/>
<define name="PSI_DDGAIN" value=" 300"/>

<!-- simonk esc firmware gains light quad? -->
<!-- feedback -->
<!--define name="PHI_PGAIN" value="1300"/>
Expand Down
2 changes: 1 addition & 1 deletion conf/airframes/examples/umarim_lite_v2.xml
View file
@@ -1,6 +1,6 @@
<!DOCTYPE airframe SYSTEM "../airframe.dtd">

<!--
<!--
Example airframe
Umarim Lite
-->
Expand Down
2 changes: 1 addition & 1 deletion sw/airborne/lisa/test_led.c
View file
Expand Up @@ -100,7 +100,7 @@ int main(void) {
return 0;
}

/*
/*
* XXX: do we really need volatile here?
*
* Also we should probably use systime instead as it is being linked into this
Expand Down
2 changes: 1 addition & 1 deletion sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
View file
Expand Up @@ -562,7 +562,7 @@ static inline void set_body_orientation_and_rates(void) {
ltp_to_body_euler.theta -= ins_pitch_neutral;
stateSetNedToBodyEulers_f(&ltp_to_body_euler);

// should be replaced at the end by:
// should be replaced at the end by:
// stateSetNedToBodyRMat_f(&ltp_to_body_rmat);

}
Expand Down
2 changes: 1 addition & 1 deletion sw/airborne/subsystems/imu/imu_aspirin2.c
View file
Expand Up @@ -189,7 +189,7 @@ static void mpu_configure(void)
(0 << 4) | // restart or stop/start from one slave to another: read -> write is always stop/start
(8 << 0) ); // 0=348kHz 8=256kHz, 9=500kHz

mpu_set( MPU60X0_REG_I2C_MST_DELAY,
mpu_set( MPU60X0_REG_I2C_MST_DELAY,
(0 << 2) | // No Delay Slave 2
(1 << 3) ); // Delay Slave 3

Expand Down

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